U.S. patent application number 14/035808 was filed with the patent office on 2015-03-26 for surveying and target tracking by a network of survey devices.
The applicant listed for this patent is Trimble Navigation Limited. Invention is credited to Kurtis L. Maynard.
Application Number | 20150085105 14/035808 |
Document ID | / |
Family ID | 51688441 |
Filed Date | 2015-03-26 |
United States Patent
Application |
20150085105 |
Kind Code |
A1 |
Maynard; Kurtis L. |
March 26, 2015 |
SURVEYING AND TARGET TRACKING BY A NETWORK OF SURVEY DEVICES
Abstract
A survey device includes a dual-axis position encoder, a video
camera coupled, a laser rangefinder, a wireless transceiver, and a
processor. The processor is configured to autonomously orient the
video camera via the dual-axis position encoder, autonomously
identify other survey devices and a target that are within a
line-of-sight field-of-view of the video camera, operate the laser
rangefinder to determine range to the autonomously identified
target and the autonomously identified other survey devices, and
determining coordinates of the autonomously identified target and
the autonomously identified other survey devices based on the
dual-axis position encoder.
Inventors: |
Maynard; Kurtis L.;
(Gainesville, GA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Trimble Navigation Limited |
Sunnyvale |
CA |
US |
|
|
Family ID: |
51688441 |
Appl. No.: |
14/035808 |
Filed: |
September 24, 2013 |
Current U.S.
Class: |
348/135 |
Current CPC
Class: |
G01C 15/00 20130101;
G01C 1/04 20130101; G01C 15/002 20130101; H04N 5/23238
20130101 |
Class at
Publication: |
348/135 |
International
Class: |
G01C 15/00 20060101
G01C015/00; H04N 5/232 20060101 H04N005/232 |
Claims
1. A survey device comprising: a dual-axis position encoder; a
video camera coupled with said dual-axis position encoder; a laser
rangefinder coupled with said dual-axis position encoder; a
wireless transceiver; and a processor, said processor configured
to: autonomously orient said video camera via said dual-axis
position encoder; autonomously identify other survey devices and a
target that are within a line-of-sight field-of-view of said video
camera; operate said laser rangefinder to determine range to said
autonomously identified target and said autonomously identified
other survey devices; and determining coordinates of said
autonomously identified target and said autonomously identified
other survey devices based on said dual-axis encoder.
2. The survey device of claim 1, further comprising: a laser
pointer configured to point to a location within said line-of-sight
field-of-view of said video camera.
3. The survey device of claim 1, further comprising: a global
positioning system configured to facilitate other survey devices to
identify said survey device.
4. A system comprising: a plurality of optical survey devices,
wherein an optical survey device of said plurality of optical
survey devices comprises: a dual-axis position encoder; a video
camera coupled with said dual-axis position encoder; a laser
rangefinder coupled with said dual-axis position encoder; a
wireless transceiver; and a processor, said processor configured
to: autonomously orient said video camera via said dual-axis
position encoder; autonomously identify other survey devices and a
target that are within a line-of-sight field-of-view of said video
camera; operate said laser rangefinder to determine range to said
autonomously identified target and said autonomously identified
other survey devices; and determining coordinates of said
autonomously identified target and said autonomously identified
other survey devices, wherein each of said plurality of optical
survey devices is configured to: concurrently track said
autonomously identified target based on an unobstructed
line-of-sight to said autonomously identified target; and
communicatively couple with a wireless network to share information
regarding said autonomously identified target.
5. The system of claim 4, wherein said each of said plurality of
optical survey devices further comprises: a laser pointer; and a
global positioning system.
6. The system of claim 4, further comprising: a point cloud
generator configured to generate a point cloud of an environment in
a field-of-view of said each of a plurality of optical survey
devices.
7. The system of claim 4, further comprising: a line-of-sight
obstruction predictor to predict when a line-of-sight between one
of said plurality of optical survey devices and said autonomously
identified target is obstructed.
8. The system of claim 4, further comprising: a target tracking
switch configured to: switch on tracking of said autonomously
identified target to one of said plurality of optical survey
devices that has an unobstructed line-of-sight with said
autonomously identified target; and switch off tracking of said
autonomously identified target to one of said plurality of optical
survey devices that has an obstructed line-of-sight with said
autonomously identified target.
9. The system of claim 4, further comprising: a coordinate system
associator configured to associate a coordinate system of said
plurality of tracking devices with another coordinate system.
10. A computer-implemented method for surveying an environment and
tracking a target, said computer-implemented method comprising:
autonomously orienting a video camera of a survey device of a
plurality of survey devices, via a dual-axis position encoder;
autonomously identifying other survey devices and a target that are
within a line-of-sight field-of-view of said video camera; and
communicatively coupling with a wireless network to share
information regarding said autonomously identified other survey
devices and said target.
11. The computer-implemented method of claim 10, wherein said
autonomously orienting a video camera further comprises:
concurrently autonomously orienting a video camera of each survey
device of said plurality of survey devices.
12. The computer-implemented method of claim 10, further
comprising: determining coordinates of said identified other survey
devices and said target by said survey device.
13. The computer-implemented method of claim 10, further
comprising: concurrently tracking said autonomously identified
target based on an unobstructed line-of-sight to said autonomously
identified target.
14. The computer-implemented method of claim 10, further
comprising: predicting obstruction of a line-of-sight between one
of said plurality of survey devices and said autonomously
identified target.
15. The computer-implemented method of claim 10, further
comprising: switching off tracking of said autonomously identified
target to one of said plurality of survey devices that has an
obstructed line-of-sight with said autonomously identified
target.
16. The computer-implemented method of claim 15, further
comprising: switching on tracking of said autonomously identified
target to one of said plurality of optical survey devices that has
an unobstructed line-of-sight with said autonomously identified
target.
17. The computer-implemented method of claim 10, further
comprising: generating a point cloud of said environment surveyed
by said plurality of survey devices.
18. The computer-implemented method of claim 17, further
comprising: automatically adjusting said point cloud in response to
adding a survey device or removing a survey device from a system of
said plurality of survey devices.
19. The computer-implemented method of claim 10, further
comprising: locating a point in said environment by a laser
pointer.
20. The computer-implemented method of claim 10, further
comprising: associating a coordinate system of said plurality of
tracking devices with another coordinate system.
Description
BACKGROUND
[0001] Surveying an environment typically requires a team of
surveyors. For instance, to determine an angle and/or distance from
a first location to a second location, a person stands a transit
located on a tripod at the first location, and another person
stands at the second location with a measuring rod. The person at
the transit looks through the telescope of the transit to locate
the measuring rod. The horizontal/vertical angles of transit with
respect to the rod at the second location facilitates in the
surveying of the environment.
[0002] A total station may be used to simplify the surveying of an
environment. However, a typical total station often requires manual
intervention to properly place the total station on a tripod and
also provide user input to control the operation of the total
station.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] The accompanying drawings, which are incorporated in and
form a part of this specification, illustrate various embodiments
and, together with the Description of Embodiments, serve to explain
principles discussed below. The drawings referred to in this brief
description of the drawings should not be understood as being drawn
to scale unless specifically noted.
[0004] FIG. 1 is a block diagram that illustrates an embodiment of
a survey device.
[0005] FIG. 2 is a block diagram that illustrates an embodiment of
a survey device system.
[0006] FIG. 3 is a block diagram that illustrates an embodiment of
a survey device system.
[0007] FIGS. 4A and 4B depict a method of surveying an environment
and tracking a target according to various embodiments.
DESCRIPTION OF EMBODIMENTS
[0008] Reference will now be made in detail to various embodiments,
examples of which are illustrated in the accompanying drawings.
While various embodiments are discussed herein, it will be
understood that they are not intended to be limiting. On the
contrary, the presented embodiments are intended to cover
alternatives, modifications and equivalents, which may be included
within the spirit and scope the various embodiments as defined by
the appended claims. Furthermore, in this Description of
Embodiments, numerous specific details are set forth in order to
provide a thorough understanding. However, embodiments may be
practiced without one or more of these specific details. In other
instances, well known methods, procedures, components, and circuits
have not been described in detail as not to unnecessarily obscure
aspects of the described embodiments.
Embodiments of a Survey Device
[0009] FIG. 1 depicts a block diagram that illustrates an
embodiment of survey device 110. Survey device 110 includes, among
other things, video camera 120, laser rangefinder 130, dual-axis
position encoder 140, control unit 150, wireless transceiver 160,
and optionally, global positioning system receiver 170.
[0010] In general, survey device 110 is configured to survey an
environment that is in the field-of-view of video camera 120, which
will be described in further detail below. Additionally, survey
device 110 is configured to, among other things, scan the
environment, locate other survey devices, track targets, locate
obstructions, etc. More specifically, survey device 110 is able to
determine coordinates of a located target and/or object.
[0011] Survey device 110 can be a robotic total station. In
general, robotic total stations are able to scan an environment,
locate other survey devices, track targets, locate obstructions,
etc. Typically, robotic total stations are configured for
coordinate measurements, angle measurements, distance measurements,
and processing of the measurements and other survey
information.
[0012] Video camera 120 can be any video camera that is able to
facilitate in surveying an environment.
[0013] In one embodiment, video camera 120 is coupled to one or
more servos such that video camera 120 is able to rotate about both
a horizontal axis (e.g., up and down) and a vertical axis (e.g.,
side-to-side).
[0014] Moreover, video camera 120 is coupled to a position encoder.
In one embodiment, video camera is coupled to dual-axis position
encoder 140.
[0015] Dual-axis position encoder 140 enables the accurate
measurement of the azimuth (based on the angle of the video camera
rotating about the vertical axis) and the elevation (based on the
angle of the video camera rotating about the horizontal axis).
[0016] In one embodiment, dual-axis position encoder 140 is a
dual-axis encoder servo. As such, the dual-axis encoder servo
orients the video camera along a vertical axis and a horizontal
axis, and measures, at least the azimuth and elevation of the video
camera.
[0017] Video camera 120 is configured to be autonomously oriented.
For example, video camera 120 is able to autonomously move about a
vertical and/or horizontal axis to survey the associated
environment that is in the field-of-view and line-of-sight of the
video camera. It should be appreciated that any scanning algorithm
may be utilized for autonomously orienting the video camera such
that the environment is properly surveyed.
[0018] The term "autonomously," as used herein, refers to the
operation of the survey device without requiring any user input
and/or input from a source external to the survey device. For
example, once placed in a secure position in an environment, survey
device may automatically and autonomously initiate scanning and
surveying the environment.
[0019] In one embodiment, video camera 120 is autonomously oriented
by dual-axis position encoder 140. That is, dual-axis position
encoder 140 is a dual-axis encoder servo that orients video camera
120 along a vertical axis and a horizontal axis.
[0020] Additionally, video camera 120 is configured to autonomously
identify other survey devices, such as survey devices similar to
survey device 110. Survey device 110 and one or more other survey
devices are disposed in an environment to be surveyed. The survey
devices autonomously scan the environment and are able to identify
one another, which will be described in further detail below.
[0021] Survey devices are able to identify one another (e.g.,
determine coordinates) based on various methods. For example, one
or more survey devices include a target (e.g., cross-hair target).
When the target of a first survey device is in the line-of-sight
field-of-view of a second survey device, the second survey device
is able to identify the first survey device based on the viewed
target. More specifically, the second survey device can determine
the coordinates of the first survey device based on measured angles
by an encoder and the distance to the first survey device measured
by a rangefinder (e.g., laser rangefinder 130).
[0022] In another example, one or more survey devices have a
reflector (e.g., corner cube, retroreflector, or the line). In such
an example, a first survey device transmits a light towards a
second survey device that includes a reflector, when light
reflected from the reflector of the second survey device is in the
line-of-sight field-of-view of the first survey device, the first
survey device is able to identify the second survey device based on
the reflected light.
[0023] In one example, a survey device is able to identify another
survey target based on video recognition. That is, the video
generated by video camera 120 is analyzed to find features similar
to the physical features of other survey devices. When a match is
determined, then the other survey device is identified.
[0024] In a further example, one or more survey devices have a
global positioning system (GPS) receiver (170), global navigation
satellite system (GNSS) receiver or the like. Accordingly, a first
survey device transmits its coordinates (from the GPS receiver) to
a second survey device. The second survey device is able to utilize
the provided coordinates to facilitate in the ability second device
ability to intelligently scan the environment and identify the
location of the first survey device by focusing the scanning
pattern on an area of the coordinates rather than randomly finding
the first survey device during a scan of the entire
environment.
[0025] Laser rangefinder 130 is configured to determine a range (or
distance) between survey device 110 and any target or object within
the line-of-sight field-of-view of video camera 120. It should be
appreciated that laser rangefinder 130 may be any distance
measuring device that is able to measure a distance between a
survey device and any other object (e.g., survey device, target,
etc.) in the surveyed environment.
[0026] In general, laser rangefinder 130 is a device which uses a
laser beam to determine the distance to an object. For example,
laser rangefinder 130 operates on the time of flight principle by
sending a laser pulse in a narrow beam towards the object and
measuring the time taken by the pulse to be reflected off the
target and returned to the laser rangefinder.
[0027] Laser rangefinder 130 is oriented in a similar fashion as
video camera 120, as described above. For instance, the laser
rangefinder is coupled with video camera 120. Accordingly, the
various servos are able to position the laser rangefinder along a
vertical axis and a horizontal axis. More specifically, laser
rangefinder 130 is also coupled to dual-axis position encoder 140.
As such, dual-axis position encoder 140 is able to measure the
azimuth and the elevation of the laser rangefinder.
[0028] Control unit 150 is configured to control the operation of
survey device 110. That is, control unit 150 provides the logic
and/or processing to control and operate the various components of
survey device 110.
[0029] In one embodiment, processor 152 is configured to
autonomously orient video camera 120 and laser rangefinder 130. For
example, in one embodiment, processor 152 provides the processing
functionality such that video camera 120 and laser rangefinder 130
are able to be autonomously oriented in conjunction with one
another. That is, video camera 120 and laser rangefinder 130 are
coupled to one another such that they are oriented with one
another.
[0030] Moreover, processor 152 is able to provide the requisite
processing functionality to determine the coordinates of various
entities in the surveyed environment, such as, but not limited to,
survey devices, targets, obstructions, etc.
[0031] Wireless transceiver 160 is configured to wirelessly
transmit information to a surveying network and receive information
from the surveying network. The wireless communication facilitates
communication and exchange of information between survey devices
110 in the surveying the environment, which will be described in
further detail below.
Embodiments of a Survey System
[0032] FIG. 2 depicts a block diagram that illustrates an
embodiment of survey system 200. Survey system 200 includes, among
other things, survey devices 110-1 to 110-n and base station
220.
[0033] Survey devices 110-1 to 110-n are each individually able to
wirelessly and bi-directionally communicate with base station 220.
As a result, a network is established between the
devices/components of survey system 200. A network, as described
herein, includes at least two survey devices that are
communicatively coupled to a base station.
[0034] Survey system 200 includes at least two survey devices to
survey environment 205. However, survey system 200 may include any
number of survey devices. It is understood that the accuracy of
determining coordinates of objects and tracking of a target, among
other things, are increased when based on the increase in the
number of survey devices utilized to survey environment 205.
[0035] Base station 220 is configured to provide various computing
functionality for the surveying of environment 205. More
specifically, survey devices 110-1 to 110-n wirelessly transmit
surveying information to base station 220 to facilitate in the
surveying of environment 205 and base station 220 may wireless
transmit various surveying information to one or more of survey
devices 110-1 to 110-n to facilitate in the surveying of
environment 205, which will be described in further detail
below.
[0036] Base station 220 is any computing system that includes, at
least a processor and memory. For example, base station 220 can be,
but is not limited to, a personal computer, a laptop, a server,
mobile device, etc.
[0037] Base station 220 includes, among other things, point cloud
generator 222, line-of-sight obstruction predictor 224, target
tracking switch 226, and coordinate system associator 228.
[0038] Point cloud generator 222 is configured to generate a point
cloud of survey environment 205. In general, a point cloud is a set
of data points in some coordinate system. In a 3D coordinate
system, these points are usually defined by X, Y, and Z
coordinates, and may represent the location of an object and/or the
external surface of an object.
[0039] For example, survey devices 110-1 to 110-n scan environment
205. Environment 205 may be any area that is to be surveyed.
Environment 205, can be but is not limited to, outside, inside a
building, adjacent a building, a mine, a construction site,
etc.
[0040] The point cloud includes the coordinates of any object or
target within environment 205. As a result, the point cloud is
utilized to facilitate in at least tracking of a target within
environment 205.
[0041] Line-of-sight obstruction predictor 224 is configured to
predict the obstruction of the line-of-sight between a survey
device and a tracked target. For example, a moving target (e.g., a
blade of earth-moving equipment) is tracked by three different
survey devices. If moving target moves such that an obstruction
obstructs the line-of-sight of a survey device tracking the moving
target, then line-of-sight obstruction predictor 224 predicts the
obstruction. As a result, the survey device with the obstructed
line-of-sight may be temporarily turned off and/or another survey
device without an obstructed line-of-sight with the moving target
may be turned on, for example, by target tracking switch 226.
[0042] Target tracking switch 226 may also turn off a survey device
that is no longer needed to survey environment 205 and is
subsequently removed from system 200. Likewise, target tracking
switch 226 may also turn on a survey device that is newly added to
system 200 to track the moving target.
[0043] Coordinate system associator 228 is configured to associate
a first coordinate system with a second coordinate system. In other
words, coordinate system associator 228 associates or maps a first
coordinate system, determined by the survey devices, with another
coordinate system.
[0044] For example, survey devices 110-1 to 110-n determine the
coordinates of a target in environment 205 (e.g., a building). The
coordinates of the target and another object (e.g., a doorway) of
environment 205 are in a first coordinate system (e.g., a local X,
Y, Z coordinate system). It may be desired that the first
coordinate system be associated or mapped with another coordinate
system (e.g., a Building Information Modeling (BIM) coordinate
system) that also includes the coordinates of the other object
(e.g., a doorway). Accordingly, coordinate system associator 228
maps the first coordinate system with the second coordinate system
based at least on part of a common object/coordinates (e.g.,
doorway) between the two coordinate systems.
[0045] It should be appreciated that the survey devices can
determine the location of various targets/objects in an environment
having various coordinate systems, such as but not limited to, BIM,
a local 3D or 2D coordinate system, a global 3D coordinate system,
latitude/longitude/elevation, northing and easting, WGS-84, etc.
Likewise, coordinate system associator 228 can associate any
coordinate system utilized by the survey devices and map the
coordinate system with any other coordinate system (e.g., BIM, a
local 3D or 2D coordinate system, a global 3D coordinate system,
latitude/longitude/elevation, northing and easting, WGS-84,
etc.).
[0046] FIG. 3 depicts a block diagram that illustrates an
embodiment of survey system 300. Survey system 300 is similar to
survey system 200, as described above. Survey system 300, as
depicted in FIG. 3, will describe, in further detail, the
functionality and implementation of a survey system surveying an
environment.
[0047] Survey system 300 includes, survey devices 110-1, 110-2, and
110-3 that are utilized to survey environment 305. Although three
separate survey devices are depicted, it should be appreciated that
any number of survey devices (i.e., more than two) may be
implemented to survey environment 305.
[0048] Also, the survey devices may be placed at any location such
that they have a substantial field-of-view of environment 305 in
order to sufficiently survey the area within environment 305. For
example, the survey devices may be placed in a pre-determined
pattern or may be placed in an arbitrary location. Additionally,
survey devices may be placed at the same elevation or at different
arbitrary elevations.
[0049] Base station 320 may also be placed at any location such
that it is able to wirelessly communicate with the survey devices.
Base station 320 may be located inside environment 305 or outside
of environment 305.
[0050] The survey devices may be set freely on a surface (e.g.,
ground, ledge, etc.) without requiring to be secured to the
surface. In one embodiment, the survey devices are not required to
be disposed on a tripod. However, the survey devices may be
disposed on a tripod.
[0051] The survey devices, in one embodiment, are not required to
be level. In such an embodiment, if the devices are disposed on a
surface at an angle, the coordinates of surveyed targets/objects
are corrected to obviate the angle of the survey device.
[0052] Environment 305 can be any physical area that is able to be
surveyed. For example, environment 305 may be an ambiguous area
without delineated boundaries, such as large construction site.
Environment 305 may be a delineated area, such as inside of
building, or inside a fenced yard adjacent a house. In another
example, environment 305 is the inside of a mine.
[0053] Upon the placement of survey devices 110-1, 110-2, and 110-3
at their respective locations, the survey devices autonomously
identify one another. For example, survey device 110-1 scans
environment 305 and is able to locate and identify survey devices
110-2 and 110-3 when survey devices 110-2 and 110-3 are in the
field-of-view line-of-sight of the video camera of survey device.
Similarly, survey device 110-2 is able to locate and identify
survey devices 110-1 and 110-3 when they are in the field-of-view
line-of-sight of the video camera of survey device 110-2. Likewise,
survey device 110-3 is able to identify survey devices 110-2 and
110-3, when they are in the field-of-view line-of-sight of the
video camera of survey device 110-3.
[0054] In conjunction with identifying survey devices, a laser
rangefinder (e.g., laser rangefinder 130) disposed in each of the
survey devices 110-1, 110-2, and 110-3 facilitates determining the
range between each of the survey devices. For example, survey
devices 110-1, 110-2, and 110-3 are able to identify one another
based on receiving a reflected light from the other survey devices
or visually identifying another survey device or a target on
another survey device. Following or as part of the identification
and/or receipt of reflected light, laser ranging is accomplished
using a laser rangefinder.
[0055] The angles measured by the dual-axis encoder (e.g.,
dual-axis position encoder 140) for each survey device, and the
distance between the survey devices measured by a laser rangefinder
(e.g., laser rangefinder 130) are utilized by a processer to
determine the coordinates of each of the survey devices. The
coordinates can be determined locally at the survey device and the
coordinates may then be transmitted to base station 320 for
subsequent use in the wireless network. In one embodiment, the
angle/range information may be transmitted to base station 320 and
the coordinates are determined, for example, by a processor at base
station 320.
[0056] It should be appreciated that the coordinates of any
surveyed object (e.g., survey device, target, etc.) in environment
305 may be determined, for example, by a processor, based on angles
(e.g., azimuth, elevation) of the line-of-sight of the video camera
with the object in combination with the range to the object.
[0057] Based on the information gathered by survey devices 110-1,
110-2, 110-3, a point cloud is generated for environment 305. For
example, survey devices 110-1, 110-2, 110-3 wirelessly transmit
location information to a base station, and point cloud generator
222 generates a point cloud for environment 305. The point cloud
assists in various surveying functions, such as, but not limited
to, tracking a target moving through environment 305.
[0058] Target 330 is able to be tracked throughout environment 305.
It should be appreciated that target 330 may be tracked by various
tracking methods, such as, but not limited to, video recognition,
reflector, etc.
[0059] In one example, target 330 includes a reflector for
reflecting light emitted by a survey device. Specifically, any
survey device, having a line-of-sight emits a light (e.g., laser,
IR, etc.) at target 330. The emitted light is reflected back to the
survey device and the survey device is able to track and
continuously determine the coordinates of the moving target.
[0060] Target 330 can be any object that is desired to be tracked
in environment 305. For example, target 330 is a blade on a piece
of machinery used for grading/excavation in environment 305 (e.g.,
a mine).
[0061] In one embodiment, target 330 moves from location 331 to
location 332. It is noted that when target 330 is at location 331,
survey devices 110-1 and 110-3 have a line-of-sight with target
330. That is, there is not obstruction between target 330 and
survey devices 110-1 and 110-3.
[0062] While target 330 is at location 331, obstruction 340 is
located between target 330 and survey device 110-2. As a result,
survey device 110-2 does not have a line-of-sight with target 330
and is unable to track target 330.
[0063] Similarly, when target 330 is at location 332, survey
devices 110-1 and 110-2 have a line-of-sight with target 330.
However, while target 330 is at location 331, obstruction 341 is
located between target 330 and survey device 110-1. As a result,
survey device 110-2 does not have a line-of-sight with target 330
and is unable to track target 330.
[0064] An obstruction is any object that impedes the line-of-sight
between a survey device and a target. An obstruction can be, but is
not limited to, a rock, a pole, a tree, a ladder, etc. In one
embodiment, obstructions are not stationary. For instance, an
obstruction is a ladder that is moved from one location to another
location.
[0065] In one embodiment, it is predicted when a line-of-sight to
the target will be obstructed. For example, while target 330 is
travelling from location 331 to location 332, line-of-sight
obstruction predictor 224, predicts that survey device 110-1 will
not have a line-of-sight with target 330, when target reaches
location 332. The prediction, in an embodiment, is based, in part,
on the generated point cloud that includes the coordinates of the
survey devices, obstructions, etc.
[0066] Moreover, in response to a prediction that the line-of-sight
will be obstructed, the survey device that will have the
line-of-sight obstructed is turned off, for example, by target
tracking switch 226. For instance, as target 330 moves to location
332, survey device 110-1 is turned off, or is provided instructions
not to track target 330, because the line-of-sight of survey device
110-1 to target 330 will be obstructed by obstruction 341.
[0067] Conversely, in response to a prediction that the
line-of-sight will not be obstructed, the survey device that will
have a subsequent line-of-sight is turned on, for example, by
target tracking switch 226. For instance, as target 330 moves from
location 332 to location 331, survey device 110-1 is turned on, or
is provided instructions to once again track target 330, because
survey device 110-1 will once again have a line-of-sight to target
330.
[0068] Moreover, in various embodiments, survey system 300 is able
to concurrently track a plurality of targets (e.g., moving
targets). For example, target 330 and another target (not shown)
are both moving within environment 305. The survey devices that
survey environment 305 are able to track the various moving targets
and determine line-of-sight obstructions, etc., for the moving
targets. Also, survey system 300 is able to provide a position
coordinates for the moving targets based on the tracking of the
moving targets by the survey devices.
[0069] In one embodiment, survey system 300 may be automatically
adjusted in response to a survey device being added to the survey
system.
[0070] For example, environment 305 is expanded to include
environment 306. Additionally, survey device 110-4 is added to
survey system 300 to facilitate in surveying newly expanded survey
environment. In such an example, once survey device 110-4 is in
place and turned on, it scans environments 305 and 306 in the same
fashion, as described with respect to survey devices 110-1, 110-2,
110-3. Also, survey device 110-4 communicates with base station 320
and/or other survey devices such that the survey system is aware of
the new addition of survey device 110-4 and the information
gathered by survey device 110-4. In one embodiment, the point cloud
of environment 305 is expanded to include the point cloud of
environment 306.
[0071] In another embodiment, the size of the surveyed environment
is changed or reduced. For example, environment 306 is removed such
that the survey environment includes environment 305 but does not
include survey environment 306. Accordingly, survey device 110-4 is
automatically removed from survey system 300. As a result, survey
devices 110-1, 110-2, 110-3 are utilized to survey environment 305
and track target 330.
[0072] In various embodiments, a survey device also includes laser
pointer (e.g., laser pointer 132). It should be appreciated that
the laser rangefinder, in one embodiment, may be a laser pointer.
The laser pointer is configured to mark a particular coordinate
with a light that is visible to a human, to an electronic device,
or to both.
[0073] For example, environment 305 is a building having plumbing
embedded within the walls. A BIM of the building provides the
coordinates of the routing of the plumbing system throughout the
building. If a particular plumbing feature is in need of repair or
replacement having a particular coordinate, the survey system is
able to provide instructions to the laser pointer such that the
laser pointer marks the location on a wall where the plumbing
feature to be repaired/replaced is located. Accordingly, a plumber
knows the particular location of where the repair/replacement is to
be accomplished without tearing into the wall and searching for the
location. This reduces the time cost of this and similar work
involving objects which are mapped in a coordinate system but that
are disposed behind a wall, beneath the ground, inside of another
object, or the like, such that they are not immediately visible to
a human worker.
Example Methods of Operation
[0074] The following discussion sets forth in detail the operation
of some example methods of operation of embodiments. With reference
to FIGS. 4A and 4B, flow diagram 400 illustrates example procedures
used by various embodiments. Flow diagram 400 includes some
procedures that, in various embodiments, are carried out by a
processor under the control of computer-readable and
computer-executable instructions. In this fashion, procedures
described herein and in conjunction with flow diagram 400 are, or
may be, implemented using a computer, in various embodiments. The
computer-readable and computer-executable instructions can reside
in any tangible computer readable storage media. Some non-limiting
examples of tangible computer readable storage media include random
access memory, read only memory, magnetic disks, solid state
drives/"disks," and optical disks, any or all of which may be
employed with a survey device and/or a base station. The
computer-readable and computer-executable instructions, which
reside on tangible computer readable storage media, are used to
control or operate in conjunction with, for example, one or some
combination of processors of the survey device and/or a base
station. It is appreciated that the processor(s) may be physical or
virtual or some combination (it should also be appreciated that a
virtual processor is implemented on physical hardware). Although
specific procedures are disclosed in flow diagram 400, such
procedures are examples. That is, embodiments are well suited to
performing various other procedures or variations of the procedures
recited in flow diagrams 400. Likewise, in some embodiments, the
procedures in flow diagram 400 may be performed in an order
different than presented and/or not all of the procedures described
in one or more of these flow diagrams may be performed. It is
further appreciated that procedures described in flow diagram 400
may be implemented in hardware, or a combination of hardware with
firmware and/or software.
[0075] FIGS. 4A and 4B depicts a flow diagram for a method for
surveying an environment and tracking a target, according to
various embodiments. Reference will be made to features of FIGS.
1-3 in the description of FIGS. 4A and 4B.
[0076] With reference to FIG. 4A, at 410 of flow diagram 400, a
video camera of a survey device of a plurality of survey devices is
autonomously oriented, via a dual-axis position encoder. For
example, video camera 120 of survey device 110 is autonomously
oriented about a vertical and/or horizontal axis via dual-axis
position encoder 140. That is, video camera 120 is able to position
itself such that it scans an environment without requiring any
input or instructions from a user or other entity outside of survey
device 110. In one embodiment, control unit 150 provides
instructions to dual-axis position encoder 140 to orient the video
camera.
[0077] Moreover, dual-axis position encoder 140 is a servo motor
that enables the dual-axis positioning. Moreover, the dual-axis
position encoder provides an output such that processor 152 (or a
processor in base station 220) calculates the position of the video
camera (and laser rangefinder).
[0078] At 412, in one embodiment, a video camera of each survey
device of the plurality of survey devices is concurrently
autonomously oriented. For example, survey devices 110-1, 110-2,
110-3 are each concurrently oriented such they are able to scan
environment 305 for the survey of environment 305.
[0079] At 415, in one embodiment, a point cloud of the environment
surveyed by the plurality of survey devices is generated. For
example, survey devices 110-1, 110-2, 110-3 scan and survey
environment 305. Moreover, the coordinates of other survey devices
and targets are determined. As such, point cloud generator 222
receives the survey information and generates a 3-D point cloud of
environment 305.
[0080] At 420, other survey devices and a target that are within a
line-of-sight field-of-view of the video camera are autonomously
identified. For example, survey devices 110-2 and 110-3 that are
within the line-of-sight of survey device 110-1 are autonomously
identified by survey device 110-1. Additionally, target 330 (when
at least at location 331) is autonomously identified by survey
device 110-1 when in the line-of-sight of survey device 110-1. In
one embodiment, position information and/or image information is
provided to processor 152 which identifies the other survey devices
and/or target.
[0081] The identification can be provided by video recognition,
reflectors, etc.
[0082] At 430, one or more survey devices in a survey environment
communicatively couple with a wireless network to share information
regarding the autonomously identified other survey devices and the
target. For example, survey devices 110-1, 110-2, 110-3 are
communicatively coupled with to a wireless network and transmit
information regarding the autonomously identified other survey
device and the target to the wireless network. More specifically,
in one embodiment, base station 320 receives the information and
the information is utilized for various functions in the surveying
of environment 305, such as, target tracking, point cloud
generation, association of various coordinate systems, etc.
[0083] With reference to FIG. 4B, at 435, coordinates of the
identified other survey devices and the target are determined by
the survey device. For example, dual-axis position encoder 140
provides position information of the video camera and laser
rangefinder to processor 152. Additionally, laser rangefinder 130
provides the distance information to processor 152. Accordingly,
processor 152 utilizes the received information and determines
coordinates of the other survey devices and/or target.
[0084] At 440, the autonomously identified target is concurrently
tracked based on an unobstructed line-of-sight to the autonomously
identified target. For example, survey devices 110-1, 110-2, 110-3
concurrently track target 330 when survey devices 110-1, 110-2,
110-3 have a line-of-sight to target 330. It is noted that if a
survey device does not have a line-of-sight with the target, the
survey is not able to track the target.
[0085] At 445, obstruction of a line-of-sight between one of the
plurality of survey devices and the autonomously identified target
is predicted. For example, when target 330 moves to location 332,
there is an obstruction 341 (e.g., a wall) between survey device
110-1 and target 330. Accordingly, line-of-sight obstruction
predictor 224 is able to predict the obstruction of the
line-of-sight of survey device 110-2 and target 330 prior to target
330 while target 330 is moving to location 332.
[0086] At 450, tracking of the autonomously identified target to
one of the plurality of survey devices that has an obstructed
line-of-sight with the autonomously identified target is switched
off. For example, line-of-sight obstruction predictor 224 predicts
the obstruction of the line-of-sight of survey device 110-1 and
target 330 prior to target 330 while target 330 is moving to
location 332. Accordingly, target tracking switch 226 disables the
target tracking of survey device 110-1 when target 330 is at
location 332 because of the obstruction of the line-of-sight when
target 330 is at location 332.
[0087] At 455, tracking of the autonomously identified target to
one of the plurality of optical survey devices that has an
unobstructed line-of-sight with the autonomously identified target
is switched on. For example, line-of-sight obstruction predictor
224 predicts that there is no obstruction of the line-of-sight of
survey device 110-1 and target 330 while target 330 is moving to
location 331. Accordingly, target tracking switch 226 enables the
target tracking of survey device 110-1 when target 330 is moves
from location 332 to location 331 because there is a line-of-sight
to target 330.
[0088] At 460, the point cloud is automatically adjusted in
response to adding a survey device or removing a survey device from
a system of the plurality of survey devices. For instance, in one
embodiment, the surveyed environment is expanded to include
environment 306. Survey device 110-4 is added to the survey
system/network to facilitate in surveying environment 306. The
survey information from survey device 110-4 is provided to the
network. As a result, in response to the new information from
survey device 110-4, point cloud generator 222 generates a new
point cloud of the combination of environment 305 and 306.
[0089] In another embodiment, environment 306 is removed from the
surveyed environment. Survey device 110-4 is then removed from
survey system/network because it is no longer needed to survey
environment 306. As a result, in response removing survey device
110-4 due to environment 306 no longer desired to surveyed, point
cloud generator 222 generates a new point cloud of environment
305.
[0090] At 465, a point in the environment is located by a laser
pointer. For example, a hole is to be drilled through a wall of
environment 305. Coordinates of the plumbing and electrical system
of the environment are provide by a BIM. Laser pointer 132 points
to locations on the wall where the plumbing and electrical system
are not located to provide locations where it is safe to drill
through the wall and not interfere with the electrical and/or
plumbing systems.
[0091] At 470, a coordinate system of the plurality of tracking
devices is coordinated with another coordinate system. For example,
the coordinates of the survey devices 110-1, 110-2, 110-3 and other
features of environment 305 (e.g., a building) are generated in a
local x, y, z coordinate system. A BIM of environment 305 x, y, z
BIM-related coordinates that do not correspond to the local x, y, z
coordinates determined, at least in part, by survey devices 110-1,
110-2, 110-3. As such, coordinate system associator 228, associates
or maps the local x, y, z coordinate system with the x, y, z
BIM-related coordinate system. Similarly, a surveying backsight or
foresight to and/or GPS receiver generated position (e.g., from GPS
receiver 170 or an GPS receiver external to a survey device 110) of
one or more of the survey devices 110 may be utilized to integrate
a coordinate system of the plurality of tracking devices with
another coordinate system. For interior survey environments (e.g.,
inside a building, inside of a mineshaft, or the like) a surveying
sight may be shot through a window or opening into the interior
survey environment.
[0092] Example embodiments of the subject matter are thus
described. Although various embodiments of the have been described
in a language specific to structural features and/or methodological
acts, it is to be understood that the appended claims are not
necessarily limited to the specific features or acts described
above. Rather, the specific features and acts described above are
disclosed as example forms of implementing the claims and their
equivalents.
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